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<div class="title">b2Math.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* Copyright (c) 2006-2009 Erin Catto http://www.box2d.org</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">* This software is provided &#39;as-is&#39;, without any express or implied</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">* warranty.  In no event will the authors be held liable for any damages</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">* arising from the use of this software.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">* including commercial applications, and to alter it and redistribute it</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">* freely, subject to the following restrictions:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">* 1. The origin of this software must not be misrepresented; you must not</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">* claim that you wrote the original software. If you use this software</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">* in a product, an acknowledgment in the product documentation would be</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">* appreciated but is not required.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">* 2. Altered source versions must be plainly marked as such, and must not be</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">* misrepresented as being the original software.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">* 3. This notice may not be removed or altered from any source distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#ifndef B2_MATH_H</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define B2_MATH_H</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="b2_settings_8h.html">Box2D/Common/b2Settings.h</a>&gt;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> b2IsValid(float32 x)</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;{</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keyword">union </span>{</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        float32 f;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        int32 i;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    } v = { x };</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordflow">return</span> (v.i &amp; 0x7f800000) != 0x7f800000;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">inline</span> float32 b2InvSqrt(float32 x)</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;{</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">union</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        float32 x;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        int32 i;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    } convert;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    convert.x = x;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    float32 xhalf = 0.5f * x;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    convert.i = 0x5f3759df - (convert.i &gt;&gt; 1);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    x = convert.x;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    x = x * (1.5f - xhalf * x * x);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">return</span> x;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#define b2Sqrt(x)   sqrtf(x)</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define b2Atan2(y, x)   atan2f(y, x)</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structb2_vec2.html">   56</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_vec2.html">b2Vec2</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a9171b31deb83af96872f99689939a12f">   59</a></span>&#160;    <a class="code" href="structb2_vec2.html#a9171b31deb83af96872f99689939a12f">b2Vec2</a>() {}</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structb2_vec2.html#aa8a2f026420a84bbbc62f3a3de2041d6">   62</a></span>&#160;    <a class="code" href="structb2_vec2.html#aa8a2f026420a84bbbc62f3a3de2041d6">b2Vec2</a>(float32 x, float32 y) : x(x), y(y) {}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">   65</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">SetZero</a>() { x = 0.0f; y = 0.0f; }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">   68</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">Set</a>(float32 x_, float32 y_) { x = x_; y = y_; }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structb2_vec2.html#ab1f648091d3cba00b4c132758fcf4450">   71</a></span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_vec2.html#ab1f648091d3cba00b4c132758fcf4450">operator -</a>()<span class="keyword"> const </span>{ <a class="code" href="structb2_vec2.html">b2Vec2</a> v; v.<a class="code" href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">Set</a>(-x, -y); <span class="keywordflow">return</span> v; }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a9cb67b5f755b82d40673337a3652d81f">   74</a></span>&#160;    float32 <a class="code" href="structb2_vec2.html#a9cb67b5f755b82d40673337a3652d81f">operator () </a>(int32 i)<span class="keyword"> const</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordflow">return</span> (&amp;x)[i];</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a50b39580d9f479e17b23ce3cb8efbac6">   80</a></span>&#160;    float32&amp; <a class="code" href="structb2_vec2.html#a9cb67b5f755b82d40673337a3652d81f">operator () </a>(int32 i)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">return</span> (&amp;x)[i];</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a590789342e22ac1e7f9c1a63a2778b6d">   86</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec2.html#a590789342e22ac1e7f9c1a63a2778b6d">operator += </a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        x += v.x; y += v.y;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a6b48cab4695a979ae40b7613aedc8b17">   92</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec2.html#a6b48cab4695a979ae40b7613aedc8b17">operator -= </a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        x -= v.x; y -= v.y;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a7097696dce578322928f4535b34f1c6b">   98</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec2.html#a7097696dce578322928f4535b34f1c6b">operator *= </a>(float32 a)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        x *= a; y *= a;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structb2_vec2.html#afb1c498214b88874fcb07eb6322374da">  104</a></span>&#160;    float32 <a class="code" href="structb2_vec2.html#afb1c498214b88874fcb07eb6322374da">Length</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordflow">return</span> b2Sqrt(x * x + y * y);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structb2_vec2.html#af66641b887488490e2168bfafc5a7e36">  111</a></span>&#160;    float32 <a class="code" href="structb2_vec2.html#af66641b887488490e2168bfafc5a7e36">LengthSquared</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">return</span> x * x + y * y;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structb2_vec2.html#adda78c92f318fe53d8a53f9b5cfd8e41">  117</a></span>&#160;    float32 <a class="code" href="structb2_vec2.html#adda78c92f318fe53d8a53f9b5cfd8e41">Normalize</a>()</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        float32 length = <a class="code" href="structb2_vec2.html#afb1c498214b88874fcb07eb6322374da">Length</a>();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keywordflow">if</span> (length &lt; b2_epsilon)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            <span class="keywordflow">return</span> 0.0f;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        float32 invLength = 1.0f / length;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        x *= invLength;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        y *= invLength;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">return</span> length;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structb2_vec2.html#aafb971cf7cc726f91fc3a8215fb0aa17">  132</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structb2_vec2.html#aafb971cf7cc726f91fc3a8215fb0aa17">IsValid</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">return</span> b2IsValid(x) &amp;&amp; b2IsValid(y);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="structb2_vec2.html#a8f2c6e60cb5898bc239801bd19e2d619">  138</a></span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_vec2.html#a8f2c6e60cb5898bc239801bd19e2d619">Skew</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html#a9171b31deb83af96872f99689939a12f">b2Vec2</a>(-y, x);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    float32 x, y;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;};</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> operator + (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v, <span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;{</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(v.x + f, v.y + f);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> operator - (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v, <span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;{</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(v.x - f, v.y - f);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;}</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> operator * (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v, <span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;{</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(v.x * f, v.y * f);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;}</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> operator / (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v, <span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;{</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(v.x / f, v.y / f);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="structb2_vec3.html">  171</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_vec3.html">b2Vec3</a></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;{</div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a837423f66d6fb72d815e7390c09938b9">  174</a></span>&#160;    <a class="code" href="structb2_vec3.html#a837423f66d6fb72d815e7390c09938b9">b2Vec3</a>() {}</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a47df55b26ab254dcf42a16638c7feeeb">  177</a></span>&#160;    <a class="code" href="structb2_vec3.html#a47df55b26ab254dcf42a16638c7feeeb">b2Vec3</a>(float32 x, float32 y, float32 z) : x(x), y(y), z(z) {}</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a5a459ed49f1910a347ca247f848a2dd8">  180</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec3.html#a5a459ed49f1910a347ca247f848a2dd8">SetZero</a>() { x = 0.0f; y = 0.0f; z = 0.0f; }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a12a1bc14bbe722dfb175a492d2d00a79">  183</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec3.html#a12a1bc14bbe722dfb175a492d2d00a79">Set</a>(float32 x_, float32 y_, float32 z_) { x = x_; y = y_; z = z_; }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a246cb7ed59d3e758989939ed4e30e5ec">  186</a></span>&#160;    <a class="code" href="structb2_vec3.html">b2Vec3</a> <a class="code" href="structb2_vec3.html#a246cb7ed59d3e758989939ed4e30e5ec">operator -</a>()<span class="keyword"> const </span>{ <a class="code" href="structb2_vec3.html">b2Vec3</a> v; v.<a class="code" href="structb2_vec3.html#a12a1bc14bbe722dfb175a492d2d00a79">Set</a>(-x, -y, -z); <span class="keywordflow">return</span> v; }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a2aaeed3f5308aad85d19c5f0efc72641">  189</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec3.html#a2aaeed3f5308aad85d19c5f0efc72641">operator += </a>(<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; v)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        x += v.x; y += v.y; z += v.z;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a9e5b535548e1c5dfc0dc258d08f5ca32">  195</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec3.html#a9e5b535548e1c5dfc0dc258d08f5ca32">operator -= </a>(<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; v)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        x -= v.x; y -= v.y; z -= v.z;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="structb2_vec3.html#aaa9aa20195cd0ee53c7176a9a9b02389">  201</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_vec3.html#aaa9aa20195cd0ee53c7176a9a9b02389">operator *= </a>(float32 s)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        x *= s; y *= s; z *= s;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a0680445e6e0a959b5575a861b34314a5">  207</a></span>&#160;    float32 <a class="code" href="structb2_vec3.html#a0680445e6e0a959b5575a861b34314a5">Length</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">return</span> b2Sqrt(x * x + y * y + z * z);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="structb2_vec3.html#a791d57a5fe85240df3aa892702360fa6">  213</a></span>&#160;    float32 <a class="code" href="structb2_vec3.html#a791d57a5fe85240df3aa892702360fa6">Normalize</a>()</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        float32 length = <a class="code" href="structb2_vec3.html#a0680445e6e0a959b5575a861b34314a5">Length</a>();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordflow">if</span> (length &lt; b2_epsilon)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            <span class="keywordflow">return</span> 0.0f;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        float32 invLength = 1.0f / length;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        x *= invLength;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        y *= invLength;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        z *= invLength;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordflow">return</span> length;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    float32 x, y, z;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;};</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="structb2_vec4.html">  232</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_vec4.html">b2Vec4</a></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;{</div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="structb2_vec4.html#ae1bd17259d4ffee8e247d3e83a12f586">  235</a></span>&#160;    <a class="code" href="structb2_vec4.html#ae1bd17259d4ffee8e247d3e83a12f586">b2Vec4</a>() {}</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="structb2_vec4.html#a06491a0e1dc9dd65e312ec7de649482d">  238</a></span>&#160;    <a class="code" href="structb2_vec4.html#a06491a0e1dc9dd65e312ec7de649482d">b2Vec4</a>(float32 x, float32 y, float32 z, float32 w) : x(x), y(y), z(z), w(w) {}</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    float32 x, y, z, w;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;};</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="structb2_mat22.html">  244</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_mat22.html">b2Mat22</a></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;{</div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="structb2_mat22.html#ac3e10f6d457c8dab9062ba378f66bc4d">  247</a></span>&#160;    <a class="code" href="structb2_mat22.html#ac3e10f6d457c8dab9062ba378f66bc4d">b2Mat22</a>() {}</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="structb2_mat22.html#abd674c6d92e26962977f34bcd92ff24d">  250</a></span>&#160;    <a class="code" href="structb2_mat22.html#abd674c6d92e26962977f34bcd92ff24d">b2Mat22</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; c1, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; c2)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        ex = c1;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        ey = c2;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="structb2_mat22.html#a41d5d8743bda32cb8c6e212528934810">  257</a></span>&#160;    <a class="code" href="structb2_mat22.html#a41d5d8743bda32cb8c6e212528934810">b2Mat22</a>(float32 a11, float32 a12, float32 a21, float32 a22)</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        ex.x = a11; ex.y = a21;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        ey.x = a12; ey.y = a22;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="structb2_mat22.html#aed3bee1de38a0b3f36e21c90faa24112">  264</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_mat22.html#aed3bee1de38a0b3f36e21c90faa24112">Set</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; c1, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; c2)</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    {</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        ex = c1;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        ey = c2;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="structb2_mat22.html#a7192f063b771ac9ded060e41df890509">  271</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_mat22.html#a7192f063b771ac9ded060e41df890509">SetIdentity</a>()</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        ex.x = 1.0f; ey.x = 0.0f;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        ex.y = 0.0f; ey.y = 1.0f;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="structb2_mat22.html#aaeae95f61cf3171ffb94703980e3594b">  278</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_mat22.html#aaeae95f61cf3171ffb94703980e3594b">SetZero</a>()</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        ex.x = 0.0f; ey.x = 0.0f;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        ex.y = 0.0f; ey.y = 0.0f;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <a class="code" href="structb2_mat22.html">b2Mat22</a> GetInverse()<span class="keyword"> const</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        float32 a = ex.x, b = ey.x, c = ex.y, d = ey.y;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <a class="code" href="structb2_mat22.html">b2Mat22</a> B;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        float32 det = a * d - b * c;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="keywordflow">if</span> (det != 0.0f)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;            det = 1.0f / det;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        B.ex.x =  det * d;  B.ey.x = -det * b;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        B.ex.y = -det * c;  B.ey.y =  det * a;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        <span class="keywordflow">return</span> B;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;</div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="structb2_mat22.html#ab511ad33f5abf87351581842628a9dc3">  300</a></span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_mat22.html#ab511ad33f5abf87351581842628a9dc3">Solve</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        float32 a11 = ex.x, a12 = ey.x, a21 = ex.y, a22 = ey.y;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        float32 det = a11 * a22 - a12 * a21;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        <span class="keywordflow">if</span> (det != 0.0f)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;            det = 1.0f / det;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <a class="code" href="structb2_vec2.html">b2Vec2</a> x;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        x.x = det * (a22 * b.x - a12 * b.y);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        x.y = det * (a11 * b.y - a21 * b.x);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <span class="keywordflow">return</span> x;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> ex, ey;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;};</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="structb2_mat33.html">  318</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_mat33.html">b2Mat33</a></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;{</div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="structb2_mat33.html#a1f4d7ddf1c8a202fc08ec64dfe191463">  321</a></span>&#160;    <a class="code" href="structb2_mat33.html#a1f4d7ddf1c8a202fc08ec64dfe191463">b2Mat33</a>() {}</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;</div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="structb2_mat33.html#a36d99a037008776c8d09fe0aeb5c759c">  324</a></span>&#160;    <a class="code" href="structb2_mat33.html#a36d99a037008776c8d09fe0aeb5c759c">b2Mat33</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; c1, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; c2, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; c3)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    {</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        ex = c1;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        ey = c2;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        ez = c3;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;</div>
<div class="line"><a name="l00332"></a><span class="lineno"><a class="line" href="structb2_mat33.html#a42fc6953b025e1c8b59717d0ee7accde">  332</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_mat33.html#a42fc6953b025e1c8b59717d0ee7accde">SetZero</a>()</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        ex.<a class="code" href="structb2_vec3.html#a5a459ed49f1910a347ca247f848a2dd8">SetZero</a>();</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        ey.<a class="code" href="structb2_vec3.html#a5a459ed49f1910a347ca247f848a2dd8">SetZero</a>();</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        ez.<a class="code" href="structb2_vec3.html#a5a459ed49f1910a347ca247f848a2dd8">SetZero</a>();</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <a class="code" href="structb2_vec3.html">b2Vec3</a> <a class="code" href="structb2_mat33.html#a478872c7b6a3bedd13fbedd3ec7a2edb">Solve33</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; b) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_mat33.html#a2580ac2afadc48028a63ed4c8a1f16bc">Solve22</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_mat33.html#a9eb5090b15d08ab495458adfec50e7cb">GetInverse22</a>(<a class="code" href="structb2_mat33.html">b2Mat33</a>* M) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_mat33.html#a501f85edde8f080e4e9ecff0ec2ee27e">GetSymInverse33</a>(<a class="code" href="structb2_mat33.html">b2Mat33</a>* M) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <a class="code" href="structb2_vec3.html">b2Vec3</a> ex, ey, ez;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;};</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;</div>
<div class="line"><a name="l00360"></a><span class="lineno"><a class="line" href="structb2_rot.html">  360</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_rot.html">b2Rot</a></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;{</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <a class="code" href="structb2_rot.html">b2Rot</a>() {}</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;</div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="structb2_rot.html#aa40dda6d390a2f54c793c63027a9b46e">  365</a></span>&#160;    <span class="keyword">explicit</span> <a class="code" href="structb2_rot.html#aa40dda6d390a2f54c793c63027a9b46e">b2Rot</a>(float32 angle)</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    {</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> = sinf(angle);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        c = cosf(angle);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;</div>
<div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="structb2_rot.html#acde9186de0a4a7397bf8ef714408ad60">  373</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_rot.html#acde9186de0a4a7397bf8ef714408ad60">Set</a>(float32 angle)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    {</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        <a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> = sinf(angle);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        c = cosf(angle);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;</div>
<div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="structb2_rot.html#a7f534cb7ece8d325662d7d0e27d4f617">  381</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_rot.html#a7f534cb7ece8d325662d7d0e27d4f617">SetIdentity</a>()</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    {</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        <a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> = 0.0f;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        c = 1.0f;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    }</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;</div>
<div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="structb2_rot.html#a67a6c08812c009654f00800256c8bfdc">  388</a></span>&#160;    float32 <a class="code" href="structb2_rot.html#a67a6c08812c009654f00800256c8bfdc">GetAngle</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        <span class="keywordflow">return</span> b2Atan2(<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>, c);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div>
<div class="line"><a name="l00394"></a><span class="lineno"><a class="line" href="structb2_rot.html#ac4ab7f262adb99f161775314852723d8">  394</a></span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_rot.html#ac4ab7f262adb99f161775314852723d8">GetXAxis</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(c, <a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div>
<div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="structb2_rot.html#ae731c7434fe1754114ee70149df36c7f">  400</a></span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_rot.html#ae731c7434fe1754114ee70149df36c7f">GetYAxis</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(-<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>, c);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    }</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div>
<div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">  406</a></span>&#160;    float32 <a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>, c;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;};</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div>
<div class="line"><a name="l00411"></a><span class="lineno"><a class="line" href="structb2_transform.html">  411</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_transform.html">b2Transform</a></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;{</div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="structb2_transform.html#a765a2e5c692a2e1d05c7a5441019373d">  414</a></span>&#160;    <a class="code" href="structb2_transform.html#a765a2e5c692a2e1d05c7a5441019373d">b2Transform</a>() {}</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;</div>
<div class="line"><a name="l00417"></a><span class="lineno"><a class="line" href="structb2_transform.html#a823e190e4810e35e8100f4414d0bef62">  417</a></span>&#160;    <a class="code" href="structb2_transform.html#a823e190e4810e35e8100f4414d0bef62">b2Transform</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; position, <span class="keyword">const</span> <a class="code" href="structb2_rot.html">b2Rot</a>&amp; rotation) : p(position), q(rotation) {}</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;</div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="structb2_transform.html#af92af4ec6833552b1b22a6ca6d4f5644">  420</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_transform.html#af92af4ec6833552b1b22a6ca6d4f5644">SetIdentity</a>()</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        p.<a class="code" href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">SetZero</a>();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        q.<a class="code" href="structb2_rot.html#a7f534cb7ece8d325662d7d0e27d4f617">SetIdentity</a>();</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    }</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;</div>
<div class="line"><a name="l00427"></a><span class="lineno"><a class="line" href="structb2_transform.html#a4db696a0b3fada95f95cde3e7e85ced9">  427</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_transform.html#a4db696a0b3fada95f95cde3e7e85ced9">Set</a>(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; position, float32 angle)</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    {</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        p = position;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        q.<a class="code" href="structb2_rot.html#acde9186de0a4a7397bf8ef714408ad60">Set</a>(angle);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="preprocessor">#if LIQUIDFUN_EXTERNAL_LANGUAGE_API</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;<span class="preprocessor"></span>    float32 GetPositionX()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> p.x; }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    float32 GetPositionY()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> p.y; }</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    float32 GetRotationSin()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>; }</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    float32 GetRotationCos()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> q.c; }</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="preprocessor">#endif // LIQUIDFUN_EXTERNAL_LANGUAGE_API</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> p;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    <a class="code" href="structb2_rot.html">b2Rot</a> q;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;};</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;</div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="structb2_sweep.html">  455</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structb2_sweep.html">b2Sweep</a></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;{</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_sweep.html#a81947646092468290d15005928e12fcd">GetTransform</a>(<a class="code" href="structb2_transform.html">b2Transform</a>* xfb, float32 beta) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_sweep.html#a35eb9b976ca87c9b8d758bec070c6c06">Advance</a>(float32 alpha);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structb2_sweep.html#ad66a3086bc7656df9cf7454013a2f61b">Normalize</a>();</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;</div>
<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="structb2_sweep.html#a4bcc302cf78771896d6256fc53f2f8be">  468</a></span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> <a class="code" href="structb2_sweep.html#a4bcc302cf78771896d6256fc53f2f8be">localCenter</a>; </div>
<div class="line"><a name="l00469"></a><span class="lineno"><a class="line" href="structb2_sweep.html#a1b5402e01b92cc82473389fc6f0375c3">  469</a></span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> c0, <a class="code" href="structb2_sweep.html#a1b5402e01b92cc82473389fc6f0375c3">c</a>;       </div>
<div class="line"><a name="l00470"></a><span class="lineno"><a class="line" href="structb2_sweep.html#afa96bacc91dd3c92ae716a45512332d6">  470</a></span>&#160;    float32 a0, <a class="code" href="structb2_sweep.html#afa96bacc91dd3c92ae716a45512332d6">a</a>;      </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;</div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="structb2_sweep.html#aa5f8ab90178b58bc0777096cbc6b91cf">  474</a></span>&#160;    float32 <a class="code" href="structb2_sweep.html#aa5f8ab90178b58bc0777096cbc6b91cf">alpha0</a>;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;};</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="keyword">extern</span> <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Vec2_zero;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;<span class="keyword">inline</span> float32 b2Dot(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;{</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    <span class="keywordflow">return</span> a.x * b.x + a.y * b.y;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;}</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;<span class="keyword">inline</span> float32 b2Cross(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;{</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    <span class="keywordflow">return</span> a.x * b.y - a.y * b.x;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;}</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Cross(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, float32 s)</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;{</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(s * a.y, -s * a.x);</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;}</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Cross(float32 s, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a)</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;{</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(-s * a.y, s * a.x);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;}</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Mul(<span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;{</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;}</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2MulT(<span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;{</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(b2Dot(v, A.ex), b2Dot(v, A.ey));</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;}</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> operator + (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;{</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(a.x + b.x, a.y + b.y);</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;}</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> operator - (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;{</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(a.x - b.x, a.y - b.y);</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;}</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> operator * (float32 s, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a)</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;{</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(s * a.x, s * a.y);</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;}</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> operator == (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;{</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    <span class="keywordflow">return</span> a.x == b.x &amp;&amp; a.y == b.y;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;}</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> operator != (<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;{</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    <span class="keywordflow">return</span> !operator==(a, b);</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;}</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;<span class="keyword">inline</span> float32 b2Distance(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;{</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> c = a - b;</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    <span class="keywordflow">return</span> c.<a class="code" href="structb2_vec2.html#afb1c498214b88874fcb07eb6322374da">Length</a>();</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;}</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;<span class="keyword">inline</span> float32 b2DistanceSquared(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;{</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> c = a - b;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    <span class="keywordflow">return</span> b2Dot(c, c);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;}</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec3.html">b2Vec3</a> operator * (float32 s, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; a)</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;{</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>(s * a.x, s * a.y, s * a.z);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;}</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec3.html">b2Vec3</a> operator + (<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; b)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;{</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>(a.x + b.x, a.y + b.y, a.z + b.z);</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;}</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec3.html">b2Vec3</a> operator - (<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; b)</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;{</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>(a.x - b.x, a.y - b.y, a.z - b.z);</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;}</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;<span class="keyword">inline</span> float32 b2Dot(<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; b)</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;{</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keywordflow">return</span> a.x * b.x + a.y * b.y + a.z * b.z;</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;}</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec3.html">b2Vec3</a> b2Cross(<span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; b)</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;{</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;}</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_mat22.html">b2Mat22</a> operator + (<span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; B)</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;{</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>(A.ex + B.ex, A.ey + B.ey);</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;}</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;<span class="comment">// A * B</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_mat22.html">b2Mat22</a> b2Mul(<span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; B)</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;{</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>(b2Mul(A, B.ex), b2Mul(A, B.ey));</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;}</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;<span class="comment">// A^T * B</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_mat22.html">b2Mat22</a> b2MulT(<span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; B)</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;{</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> c1(b2Dot(A.ex, B.ex), b2Dot(A.ey, B.ex));</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;    <a class="code" href="structb2_vec2.html">b2Vec2</a> c2(b2Dot(A.ex, B.ey), b2Dot(A.ey, B.ey));</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>(c1, c2);</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;}</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec3.html">b2Vec3</a> b2Mul(<span class="keyword">const</span> <a class="code" href="structb2_mat33.html">b2Mat33</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_vec3.html">b2Vec3</a>&amp; v)</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;{</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    <span class="keywordflow">return</span> v.x * A.ex + v.y * A.ey + v.z * A.ez;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;}</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Mul22(<span class="keyword">const</span> <a class="code" href="structb2_mat33.html">b2Mat33</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;{</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y);</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;}</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_rot.html">b2Rot</a> b2Mul(<span class="keyword">const</span> <a class="code" href="structb2_rot.html">b2Rot</a>&amp; q, <span class="keyword">const</span> <a class="code" href="structb2_rot.html">b2Rot</a>&amp; r)</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;{</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    <span class="comment">// [qc -qs] * [rc -rs] = [qc*rc-qs*rs -qc*rs-qs*rc]</span></div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;    <span class="comment">// [qs  qc]   [rs  rc]   [qs*rc+qc*rs -qs*rs+qc*rc]</span></div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    <span class="comment">// s = qs * rc + qc * rs</span></div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="comment">// c = qc * rc - qs * rs</span></div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    <a class="code" href="structb2_rot.html">b2Rot</a> qr;</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    qr.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> = q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * r.c + q.c * r.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>;</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    qr.c = q.c * r.c - q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * r.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;    <span class="keywordflow">return</span> qr;</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;}</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_rot.html">b2Rot</a> b2MulT(<span class="keyword">const</span> <a class="code" href="structb2_rot.html">b2Rot</a>&amp; q, <span class="keyword">const</span> <a class="code" href="structb2_rot.html">b2Rot</a>&amp; r)</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;{</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="comment">// [ qc qs] * [rc -rs] = [qc*rc+qs*rs -qc*rs+qs*rc]</span></div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    <span class="comment">// [-qs qc]   [rs  rc]   [-qs*rc+qc*rs qs*rs+qc*rc]</span></div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    <span class="comment">// s = qc * rs - qs * rc</span></div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    <span class="comment">// c = qc * rc + qs * rs</span></div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <a class="code" href="structb2_rot.html">b2Rot</a> qr;</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    qr.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> = q.c * r.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> - q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * r.c;</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    qr.c = q.c * r.c + q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * r.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a>;</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    <span class="keywordflow">return</span> qr;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;}</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Mul(<span class="keyword">const</span> <a class="code" href="structb2_rot.html">b2Rot</a>&amp; q, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;{</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(q.c * v.x - q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * v.y, q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * v.x + q.c * v.y);</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;}</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2MulT(<span class="keyword">const</span> <a class="code" href="structb2_rot.html">b2Rot</a>&amp; q, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;{</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(q.c * v.x + q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * v.y, -q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * v.x + q.c * v.y);</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;}</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Mul(<span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>&amp; T, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;{</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    float32 x = (T.q.c * v.x - T.q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * v.y) + T.p.x;</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    float32 y = (T.q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * v.x + T.q.c * v.y) + T.p.y;</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(x, y);</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;}</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2MulT(<span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>&amp; T, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; v)</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;{</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    float32 px = v.x - T.p.x;</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    float32 py = v.y - T.p.y;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    float32 x = (T.q.c * px + T.q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * py);</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    float32 y = (-T.q.<a class="code" href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">s</a> * px + T.q.c * py);</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(x, y);</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;}</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;<span class="comment">// v2 = A.q.Rot(B.q.Rot(v1) + B.p) + A.p</span></div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;<span class="comment">//    = (A.q * B.q).Rot(v1) + A.q.Rot(B.p) + A.p</span></div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_transform.html">b2Transform</a> b2Mul(<span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>&amp; B)</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;{</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;    <a class="code" href="structb2_transform.html">b2Transform</a> C;</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;    C.q = b2Mul(A.q, B.q);</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    C.p = b2Mul(A.q, B.p) + A.p;</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    <span class="keywordflow">return</span> C;</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;}</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;<span class="comment">// v2 = A.q&#39; * (B.q * v1 + B.p - A.p)</span></div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;<span class="comment">//    = A.q&#39; * B.q * v1 + A.q&#39; * (B.p - A.p)</span></div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_transform.html">b2Transform</a> b2MulT(<span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>&amp; A, <span class="keyword">const</span> <a class="code" href="structb2_transform.html">b2Transform</a>&amp; B)</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;{</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    <a class="code" href="structb2_transform.html">b2Transform</a> C;</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    C.q = b2MulT(A.q, B.q);</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    C.p = b2MulT(A.q, B.p - A.p);</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    <span class="keywordflow">return</span> C;</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;}</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;<span class="keyword">inline</span> T b2Abs(T a)</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;{</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    <span class="keywordflow">return</span> a &gt; T(0) ? a : -a;</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;}</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Abs(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a)</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;{</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(b2Abs(a.x), b2Abs(a.y));</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;}</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_mat22.html">b2Mat22</a> b2Abs(<span class="keyword">const</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>&amp; A)</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;{</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_mat22.html">b2Mat22</a>(b2Abs(A.ex), b2Abs(A.ey));</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;}</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;<span class="keyword">inline</span> T b2Min(T a, T b)</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;{</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    <span class="keywordflow">return</span> a &lt; b ? a : b;</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;}</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Min(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;{</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(b2Min(a.x, b.x), b2Min(a.y, b.y));</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;}</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;<span class="keyword">inline</span> T b2Max(T a, T b)</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;{</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    <span class="keywordflow">return</span> a &gt; b ? a : b;</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;}</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Max(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; b)</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;{</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>(b2Max(a.x, b.x), b2Max(a.y, b.y));</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;}</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;<span class="keyword">inline</span> T b2Clamp(T a, T low, T high)</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;{</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;    <span class="keywordflow">return</span> b2Max(low, b2Min(a, high));</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;}</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;<span class="keyword">inline</span> <a class="code" href="structb2_vec2.html">b2Vec2</a> b2Clamp(<span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; low, <span class="keyword">const</span> <a class="code" href="structb2_vec2.html">b2Vec2</a>&amp; high)</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;{</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    <span class="keywordflow">return</span> b2Max(low, b2Min(a, high));</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;}</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> b2Swap(T&amp; a, T&amp; b)</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;{</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;    T tmp = a;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    a = b;</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    b = tmp;</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;}</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;<span class="keyword">inline</span> uint32 b2NextPowerOfTwo(uint32 x)</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;{</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;    x |= (x &gt;&gt; 1);</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    x |= (x &gt;&gt; 2);</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;    x |= (x &gt;&gt; 4);</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    x |= (x &gt;&gt; 8);</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;    x |= (x &gt;&gt; 16);</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;    <span class="keywordflow">return</span> x + 1;</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;}</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">bool</span> b2IsPowerOfTwo(uint32 x)</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;{</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    <span class="keywordtype">bool</span> result = x &gt; 0 &amp;&amp; (x &amp; (x - 1)) == 0;</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;    <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;}</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;</div>
<div class="line"><a name="l00772"></a><span class="lineno"><a class="line" href="structb2_sweep.html#a81947646092468290d15005928e12fcd">  772</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structb2_sweep.html#a81947646092468290d15005928e12fcd">b2Sweep::GetTransform</a>(<a class="code" href="structb2_transform.html">b2Transform</a>* xf, float32 beta)<span class="keyword"> const</span></div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;    xf-&gt;p = (1.0f - beta) * c0 + beta * c;</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    float32 angle = (1.0f - beta) * a0 + beta * a;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;    xf-&gt;q.<a class="code" href="structb2_rot.html#acde9186de0a4a7397bf8ef714408ad60">Set</a>(angle);</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;    <span class="comment">// Shift to origin</span></div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;    xf-&gt;p -= b2Mul(xf-&gt;q, <a class="code" href="structb2_sweep.html#a4bcc302cf78771896d6256fc53f2f8be">localCenter</a>);</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;}</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;</div>
<div class="line"><a name="l00782"></a><span class="lineno"><a class="line" href="structb2_sweep.html#a35eb9b976ca87c9b8d758bec070c6c06">  782</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structb2_sweep.html#a35eb9b976ca87c9b8d758bec070c6c06">b2Sweep::Advance</a>(float32 alpha)</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;{</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;    b2Assert(<a class="code" href="structb2_sweep.html#aa5f8ab90178b58bc0777096cbc6b91cf">alpha0</a> &lt; 1.0f);</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;    float32 beta = (alpha - <a class="code" href="structb2_sweep.html#aa5f8ab90178b58bc0777096cbc6b91cf">alpha0</a>) / (1.0f - <a class="code" href="structb2_sweep.html#aa5f8ab90178b58bc0777096cbc6b91cf">alpha0</a>);</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;    c0 += beta * (c - c0);</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;    a0 += beta * (a - a0);</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;    <a class="code" href="structb2_sweep.html#aa5f8ab90178b58bc0777096cbc6b91cf">alpha0</a> = alpha;</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;}</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;</div>
<div class="line"><a name="l00792"></a><span class="lineno"><a class="line" href="structb2_sweep.html#ad66a3086bc7656df9cf7454013a2f61b">  792</a></span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structb2_sweep.html#ad66a3086bc7656df9cf7454013a2f61b">b2Sweep::Normalize</a>()</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;{</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;    float32 twoPi = 2.0f * b2_pi;</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;    float32 d =  twoPi * floorf(a0 / twoPi);</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;    a0 -= d;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    a -= d;</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;}</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="structb2_mat33_html_a2580ac2afadc48028a63ed4c8a1f16bc"><div class="ttname"><a href="structb2_mat33.html#a2580ac2afadc48028a63ed4c8a1f16bc">b2Mat33::Solve22</a></div><div class="ttdeci">b2Vec2 Solve22(const b2Vec2 &amp;b) const </div><div class="ttdef"><b>Definition:</b> b2Math.cpp:41</div></div>
<div class="ttc" id="structb2_transform_html"><div class="ttname"><a href="structb2_transform.html">b2Transform</a></div><div class="ttdef"><b>Definition:</b> b2Math.h:411</div></div>
<div class="ttc" id="structb2_transform_html_a765a2e5c692a2e1d05c7a5441019373d"><div class="ttname"><a href="structb2_transform.html#a765a2e5c692a2e1d05c7a5441019373d">b2Transform::b2Transform</a></div><div class="ttdeci">b2Transform()</div><div class="ttdoc">The default constructor does nothing. </div><div class="ttdef"><b>Definition:</b> b2Math.h:414</div></div>
<div class="ttc" id="structb2_vec3_html_a47df55b26ab254dcf42a16638c7feeeb"><div class="ttname"><a href="structb2_vec3.html#a47df55b26ab254dcf42a16638c7feeeb">b2Vec3::b2Vec3</a></div><div class="ttdeci">b2Vec3(float32 x, float32 y, float32 z)</div><div class="ttdoc">Construct using coordinates. </div><div class="ttdef"><b>Definition:</b> b2Math.h:177</div></div>
<div class="ttc" id="structb2_sweep_html_a81947646092468290d15005928e12fcd"><div class="ttname"><a href="structb2_sweep.html#a81947646092468290d15005928e12fcd">b2Sweep::GetTransform</a></div><div class="ttdeci">void GetTransform(b2Transform *xfb, float32 beta) const </div><div class="ttdef"><b>Definition:</b> b2Math.h:772</div></div>
<div class="ttc" id="structb2_vec4_html_ae1bd17259d4ffee8e247d3e83a12f586"><div class="ttname"><a href="structb2_vec4.html#ae1bd17259d4ffee8e247d3e83a12f586">b2Vec4::b2Vec4</a></div><div class="ttdeci">b2Vec4()</div><div class="ttdoc">Default constructor does nothing (for performance). </div><div class="ttdef"><b>Definition:</b> b2Math.h:235</div></div>
<div class="ttc" id="structb2_vec3_html"><div class="ttname"><a href="structb2_vec3.html">b2Vec3</a></div><div class="ttdoc">A 3D column vector with 3 elements. </div><div class="ttdef"><b>Definition:</b> b2Math.h:171</div></div>
<div class="ttc" id="structb2_rot_html_a67a6c08812c009654f00800256c8bfdc"><div class="ttname"><a href="structb2_rot.html#a67a6c08812c009654f00800256c8bfdc">b2Rot::GetAngle</a></div><div class="ttdeci">float32 GetAngle() const </div><div class="ttdoc">Get the angle in radians. </div><div class="ttdef"><b>Definition:</b> b2Math.h:388</div></div>
<div class="ttc" id="structb2_vec2_html_aafb971cf7cc726f91fc3a8215fb0aa17"><div class="ttname"><a href="structb2_vec2.html#aafb971cf7cc726f91fc3a8215fb0aa17">b2Vec2::IsValid</a></div><div class="ttdeci">bool IsValid() const </div><div class="ttdoc">Does this vector contain finite coordinates? </div><div class="ttdef"><b>Definition:</b> b2Math.h:132</div></div>
<div class="ttc" id="structb2_mat22_html_abd674c6d92e26962977f34bcd92ff24d"><div class="ttname"><a href="structb2_mat22.html#abd674c6d92e26962977f34bcd92ff24d">b2Mat22::b2Mat22</a></div><div class="ttdeci">b2Mat22(const b2Vec2 &amp;c1, const b2Vec2 &amp;c2)</div><div class="ttdoc">Construct this matrix using columns. </div><div class="ttdef"><b>Definition:</b> b2Math.h:250</div></div>
<div class="ttc" id="structb2_vec3_html_a0680445e6e0a959b5575a861b34314a5"><div class="ttname"><a href="structb2_vec3.html#a0680445e6e0a959b5575a861b34314a5">b2Vec3::Length</a></div><div class="ttdeci">float32 Length() const </div><div class="ttdoc">Get the length of this vector (the norm). </div><div class="ttdef"><b>Definition:</b> b2Math.h:207</div></div>
<div class="ttc" id="structb2_vec3_html_a837423f66d6fb72d815e7390c09938b9"><div class="ttname"><a href="structb2_vec3.html#a837423f66d6fb72d815e7390c09938b9">b2Vec3::b2Vec3</a></div><div class="ttdeci">b2Vec3()</div><div class="ttdoc">Default constructor does nothing (for performance). </div><div class="ttdef"><b>Definition:</b> b2Math.h:174</div></div>
<div class="ttc" id="structb2_mat33_html"><div class="ttname"><a href="structb2_mat33.html">b2Mat33</a></div><div class="ttdoc">A 3-by-3 matrix. Stored in column-major order. </div><div class="ttdef"><b>Definition:</b> b2Math.h:318</div></div>
<div class="ttc" id="structb2_vec2_html_a9171b31deb83af96872f99689939a12f"><div class="ttname"><a href="structb2_vec2.html#a9171b31deb83af96872f99689939a12f">b2Vec2::b2Vec2</a></div><div class="ttdeci">b2Vec2()</div><div class="ttdoc">Default constructor does nothing (for performance). </div><div class="ttdef"><b>Definition:</b> b2Math.h:59</div></div>
<div class="ttc" id="structb2_vec3_html_a12a1bc14bbe722dfb175a492d2d00a79"><div class="ttname"><a href="structb2_vec3.html#a12a1bc14bbe722dfb175a492d2d00a79">b2Vec3::Set</a></div><div class="ttdeci">void Set(float32 x_, float32 y_, float32 z_)</div><div class="ttdoc">Set this vector to some specified coordinates. </div><div class="ttdef"><b>Definition:</b> b2Math.h:183</div></div>
<div class="ttc" id="structb2_vec2_html_adda78c92f318fe53d8a53f9b5cfd8e41"><div class="ttname"><a href="structb2_vec2.html#adda78c92f318fe53d8a53f9b5cfd8e41">b2Vec2::Normalize</a></div><div class="ttdeci">float32 Normalize()</div><div class="ttdoc">Convert this vector into a unit vector. Returns the length. </div><div class="ttdef"><b>Definition:</b> b2Math.h:117</div></div>
<div class="ttc" id="structb2_rot_html_ae731c7434fe1754114ee70149df36c7f"><div class="ttname"><a href="structb2_rot.html#ae731c7434fe1754114ee70149df36c7f">b2Rot::GetYAxis</a></div><div class="ttdeci">b2Vec2 GetYAxis() const </div><div class="ttdoc">Get the u-axis. </div><div class="ttdef"><b>Definition:</b> b2Math.h:400</div></div>
<div class="ttc" id="structb2_mat33_html_a1f4d7ddf1c8a202fc08ec64dfe191463"><div class="ttname"><a href="structb2_mat33.html#a1f4d7ddf1c8a202fc08ec64dfe191463">b2Mat33::b2Mat33</a></div><div class="ttdeci">b2Mat33()</div><div class="ttdoc">The default constructor does nothing (for performance). </div><div class="ttdef"><b>Definition:</b> b2Math.h:321</div></div>
<div class="ttc" id="structb2_vec2_html_ab1f648091d3cba00b4c132758fcf4450"><div class="ttname"><a href="structb2_vec2.html#ab1f648091d3cba00b4c132758fcf4450">b2Vec2::operator-</a></div><div class="ttdeci">b2Vec2 operator-() const </div><div class="ttdoc">Negate this vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:71</div></div>
<div class="ttc" id="structb2_vec4_html"><div class="ttname"><a href="structb2_vec4.html">b2Vec4</a></div><div class="ttdoc">A 4D column vector with 4 elements. </div><div class="ttdef"><b>Definition:</b> b2Math.h:232</div></div>
<div class="ttc" id="structb2_vec2_html_aa8a2f026420a84bbbc62f3a3de2041d6"><div class="ttname"><a href="structb2_vec2.html#aa8a2f026420a84bbbc62f3a3de2041d6">b2Vec2::b2Vec2</a></div><div class="ttdeci">b2Vec2(float32 x, float32 y)</div><div class="ttdoc">Construct using coordinates. </div><div class="ttdef"><b>Definition:</b> b2Math.h:62</div></div>
<div class="ttc" id="structb2_sweep_html"><div class="ttname"><a href="structb2_sweep.html">b2Sweep</a></div><div class="ttdef"><b>Definition:</b> b2Math.h:455</div></div>
<div class="ttc" id="structb2_mat22_html_ac3e10f6d457c8dab9062ba378f66bc4d"><div class="ttname"><a href="structb2_mat22.html#ac3e10f6d457c8dab9062ba378f66bc4d">b2Mat22::b2Mat22</a></div><div class="ttdeci">b2Mat22()</div><div class="ttdoc">The default constructor does nothing (for performance). </div><div class="ttdef"><b>Definition:</b> b2Math.h:247</div></div>
<div class="ttc" id="structb2_rot_html_a15725ce0a89cc735ad90687b4c0f4dce"><div class="ttname"><a href="structb2_rot.html#a15725ce0a89cc735ad90687b4c0f4dce">b2Rot::s</a></div><div class="ttdeci">float32 s</div><div class="ttdoc">Sine and cosine. </div><div class="ttdef"><b>Definition:</b> b2Math.h:406</div></div>
<div class="ttc" id="structb2_sweep_html_afa96bacc91dd3c92ae716a45512332d6"><div class="ttname"><a href="structb2_sweep.html#afa96bacc91dd3c92ae716a45512332d6">b2Sweep::a</a></div><div class="ttdeci">float32 a</div><div class="ttdoc">world angles </div><div class="ttdef"><b>Definition:</b> b2Math.h:470</div></div>
<div class="ttc" id="structb2_mat33_html_a36d99a037008776c8d09fe0aeb5c759c"><div class="ttname"><a href="structb2_mat33.html#a36d99a037008776c8d09fe0aeb5c759c">b2Mat33::b2Mat33</a></div><div class="ttdeci">b2Mat33(const b2Vec3 &amp;c1, const b2Vec3 &amp;c2, const b2Vec3 &amp;c3)</div><div class="ttdoc">Construct this matrix using columns. </div><div class="ttdef"><b>Definition:</b> b2Math.h:324</div></div>
<div class="ttc" id="structb2_vec2_html_a8f2c6e60cb5898bc239801bd19e2d619"><div class="ttname"><a href="structb2_vec2.html#a8f2c6e60cb5898bc239801bd19e2d619">b2Vec2::Skew</a></div><div class="ttdeci">b2Vec2 Skew() const </div><div class="ttdoc">Get the skew vector such that dot(skew_vec, other) == cross(vec, other) </div><div class="ttdef"><b>Definition:</b> b2Math.h:138</div></div>
<div class="ttc" id="structb2_rot_html_ac4ab7f262adb99f161775314852723d8"><div class="ttname"><a href="structb2_rot.html#ac4ab7f262adb99f161775314852723d8">b2Rot::GetXAxis</a></div><div class="ttdeci">b2Vec2 GetXAxis() const </div><div class="ttdoc">Get the x-axis. </div><div class="ttdef"><b>Definition:</b> b2Math.h:394</div></div>
<div class="ttc" id="structb2_vec3_html_a246cb7ed59d3e758989939ed4e30e5ec"><div class="ttname"><a href="structb2_vec3.html#a246cb7ed59d3e758989939ed4e30e5ec">b2Vec3::operator-</a></div><div class="ttdeci">b2Vec3 operator-() const </div><div class="ttdoc">Negate this vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:186</div></div>
<div class="ttc" id="structb2_vec2_html_a4d61640a645e470a50b451307d8e94c3"><div class="ttname"><a href="structb2_vec2.html#a4d61640a645e470a50b451307d8e94c3">b2Vec2::Set</a></div><div class="ttdeci">void Set(float32 x_, float32 y_)</div><div class="ttdoc">Set this vector to some specified coordinates. </div><div class="ttdef"><b>Definition:</b> b2Math.h:68</div></div>
<div class="ttc" id="structb2_vec3_html_a791d57a5fe85240df3aa892702360fa6"><div class="ttname"><a href="structb2_vec3.html#a791d57a5fe85240df3aa892702360fa6">b2Vec3::Normalize</a></div><div class="ttdeci">float32 Normalize()</div><div class="ttdoc">Convert this vector into a unit vector. Returns the length. </div><div class="ttdef"><b>Definition:</b> b2Math.h:213</div></div>
<div class="ttc" id="structb2_transform_html_a4db696a0b3fada95f95cde3e7e85ced9"><div class="ttname"><a href="structb2_transform.html#a4db696a0b3fada95f95cde3e7e85ced9">b2Transform::Set</a></div><div class="ttdeci">void Set(const b2Vec2 &amp;position, float32 angle)</div><div class="ttdoc">Set this based on the position and angle. </div><div class="ttdef"><b>Definition:</b> b2Math.h:427</div></div>
<div class="ttc" id="structb2_vec2_html_a5c6cbe27cfb29c6dbb29b9a3285b88d0"><div class="ttname"><a href="structb2_vec2.html#a5c6cbe27cfb29c6dbb29b9a3285b88d0">b2Vec2::SetZero</a></div><div class="ttdeci">void SetZero()</div><div class="ttdoc">Set this vector to all zeros. </div><div class="ttdef"><b>Definition:</b> b2Math.h:65</div></div>
<div class="ttc" id="structb2_vec2_html_a590789342e22ac1e7f9c1a63a2778b6d"><div class="ttname"><a href="structb2_vec2.html#a590789342e22ac1e7f9c1a63a2778b6d">b2Vec2::operator+=</a></div><div class="ttdeci">void operator+=(const b2Vec2 &amp;v)</div><div class="ttdoc">Add a vector to this vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:86</div></div>
<div class="ttc" id="structb2_mat33_html_a9eb5090b15d08ab495458adfec50e7cb"><div class="ttname"><a href="structb2_mat33.html#a9eb5090b15d08ab495458adfec50e7cb">b2Mat33::GetInverse22</a></div><div class="ttdeci">void GetInverse22(b2Mat33 *M) const </div><div class="ttdef"><b>Definition:</b> b2Math.cpp:56</div></div>
<div class="ttc" id="structb2_vec3_html_aaa9aa20195cd0ee53c7176a9a9b02389"><div class="ttname"><a href="structb2_vec3.html#aaa9aa20195cd0ee53c7176a9a9b02389">b2Vec3::operator*=</a></div><div class="ttdeci">void operator*=(float32 s)</div><div class="ttdoc">Multiply this vector by a scalar. </div><div class="ttdef"><b>Definition:</b> b2Math.h:201</div></div>
<div class="ttc" id="structb2_transform_html_af92af4ec6833552b1b22a6ca6d4f5644"><div class="ttname"><a href="structb2_transform.html#af92af4ec6833552b1b22a6ca6d4f5644">b2Transform::SetIdentity</a></div><div class="ttdeci">void SetIdentity()</div><div class="ttdoc">Set this to the identity transform. </div><div class="ttdef"><b>Definition:</b> b2Math.h:420</div></div>
<div class="ttc" id="structb2_vec2_html_a6b48cab4695a979ae40b7613aedc8b17"><div class="ttname"><a href="structb2_vec2.html#a6b48cab4695a979ae40b7613aedc8b17">b2Vec2::operator-=</a></div><div class="ttdeci">void operator-=(const b2Vec2 &amp;v)</div><div class="ttdoc">Subtract a vector from this vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:92</div></div>
<div class="ttc" id="structb2_vec3_html_a5a459ed49f1910a347ca247f848a2dd8"><div class="ttname"><a href="structb2_vec3.html#a5a459ed49f1910a347ca247f848a2dd8">b2Vec3::SetZero</a></div><div class="ttdeci">void SetZero()</div><div class="ttdoc">Set this vector to all zeros. </div><div class="ttdef"><b>Definition:</b> b2Math.h:180</div></div>
<div class="ttc" id="structb2_vec3_html_a9e5b535548e1c5dfc0dc258d08f5ca32"><div class="ttname"><a href="structb2_vec3.html#a9e5b535548e1c5dfc0dc258d08f5ca32">b2Vec3::operator-=</a></div><div class="ttdeci">void operator-=(const b2Vec3 &amp;v)</div><div class="ttdoc">Subtract a vector from this vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:195</div></div>
<div class="ttc" id="structb2_rot_html_aa40dda6d390a2f54c793c63027a9b46e"><div class="ttname"><a href="structb2_rot.html#aa40dda6d390a2f54c793c63027a9b46e">b2Rot::b2Rot</a></div><div class="ttdeci">b2Rot(float32 angle)</div><div class="ttdoc">Initialize from an angle in radians. </div><div class="ttdef"><b>Definition:</b> b2Math.h:365</div></div>
<div class="ttc" id="structb2_vec3_html_a2aaeed3f5308aad85d19c5f0efc72641"><div class="ttname"><a href="structb2_vec3.html#a2aaeed3f5308aad85d19c5f0efc72641">b2Vec3::operator+=</a></div><div class="ttdeci">void operator+=(const b2Vec3 &amp;v)</div><div class="ttdoc">Add a vector to this vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:189</div></div>
<div class="ttc" id="structb2_mat22_html_ab511ad33f5abf87351581842628a9dc3"><div class="ttname"><a href="structb2_mat22.html#ab511ad33f5abf87351581842628a9dc3">b2Mat22::Solve</a></div><div class="ttdeci">b2Vec2 Solve(const b2Vec2 &amp;b) const </div><div class="ttdef"><b>Definition:</b> b2Math.h:300</div></div>
<div class="ttc" id="structb2_sweep_html_a1b5402e01b92cc82473389fc6f0375c3"><div class="ttname"><a href="structb2_sweep.html#a1b5402e01b92cc82473389fc6f0375c3">b2Sweep::c</a></div><div class="ttdeci">b2Vec2 c</div><div class="ttdoc">center world positions </div><div class="ttdef"><b>Definition:</b> b2Math.h:469</div></div>
<div class="ttc" id="structb2_vec2_html_afb1c498214b88874fcb07eb6322374da"><div class="ttname"><a href="structb2_vec2.html#afb1c498214b88874fcb07eb6322374da">b2Vec2::Length</a></div><div class="ttdeci">float32 Length() const </div><div class="ttdoc">Get the length of this vector (the norm). </div><div class="ttdef"><b>Definition:</b> b2Math.h:104</div></div>
<div class="ttc" id="structb2_sweep_html_a4bcc302cf78771896d6256fc53f2f8be"><div class="ttname"><a href="structb2_sweep.html#a4bcc302cf78771896d6256fc53f2f8be">b2Sweep::localCenter</a></div><div class="ttdeci">b2Vec2 localCenter</div><div class="ttdoc">local center of mass position </div><div class="ttdef"><b>Definition:</b> b2Math.h:468</div></div>
<div class="ttc" id="structb2_mat33_html_a501f85edde8f080e4e9ecff0ec2ee27e"><div class="ttname"><a href="structb2_mat33.html#a501f85edde8f080e4e9ecff0ec2ee27e">b2Mat33::GetSymInverse33</a></div><div class="ttdeci">void GetSymInverse33(b2Mat33 *M) const </div><div class="ttdoc">Returns the zero matrix if singular. </div><div class="ttdef"><b>Definition:</b> b2Math.cpp:71</div></div>
<div class="ttc" id="structb2_mat22_html"><div class="ttname"><a href="structb2_mat22.html">b2Mat22</a></div><div class="ttdoc">A 2-by-2 matrix. Stored in column-major order. </div><div class="ttdef"><b>Definition:</b> b2Math.h:244</div></div>
<div class="ttc" id="structb2_mat22_html_aed3bee1de38a0b3f36e21c90faa24112"><div class="ttname"><a href="structb2_mat22.html#aed3bee1de38a0b3f36e21c90faa24112">b2Mat22::Set</a></div><div class="ttdeci">void Set(const b2Vec2 &amp;c1, const b2Vec2 &amp;c2)</div><div class="ttdoc">Initialize this matrix using columns. </div><div class="ttdef"><b>Definition:</b> b2Math.h:264</div></div>
<div class="ttc" id="structb2_vec4_html_a06491a0e1dc9dd65e312ec7de649482d"><div class="ttname"><a href="structb2_vec4.html#a06491a0e1dc9dd65e312ec7de649482d">b2Vec4::b2Vec4</a></div><div class="ttdeci">b2Vec4(float32 x, float32 y, float32 z, float32 w)</div><div class="ttdoc">Construct using coordinates. </div><div class="ttdef"><b>Definition:</b> b2Math.h:238</div></div>
<div class="ttc" id="structb2_rot_html_a7f534cb7ece8d325662d7d0e27d4f617"><div class="ttname"><a href="structb2_rot.html#a7f534cb7ece8d325662d7d0e27d4f617">b2Rot::SetIdentity</a></div><div class="ttdeci">void SetIdentity()</div><div class="ttdoc">Set to the identity rotation. </div><div class="ttdef"><b>Definition:</b> b2Math.h:381</div></div>
<div class="ttc" id="structb2_sweep_html_aa5f8ab90178b58bc0777096cbc6b91cf"><div class="ttname"><a href="structb2_sweep.html#aa5f8ab90178b58bc0777096cbc6b91cf">b2Sweep::alpha0</a></div><div class="ttdeci">float32 alpha0</div><div class="ttdef"><b>Definition:</b> b2Math.h:474</div></div>
<div class="ttc" id="structb2_mat22_html_a7192f063b771ac9ded060e41df890509"><div class="ttname"><a href="structb2_mat22.html#a7192f063b771ac9ded060e41df890509">b2Mat22::SetIdentity</a></div><div class="ttdeci">void SetIdentity()</div><div class="ttdoc">Set this to the identity matrix. </div><div class="ttdef"><b>Definition:</b> b2Math.h:271</div></div>
<div class="ttc" id="structb2_sweep_html_ad66a3086bc7656df9cf7454013a2f61b"><div class="ttname"><a href="structb2_sweep.html#ad66a3086bc7656df9cf7454013a2f61b">b2Sweep::Normalize</a></div><div class="ttdeci">void Normalize()</div><div class="ttdoc">Normalize the angles. </div><div class="ttdef"><b>Definition:</b> b2Math.h:792</div></div>
<div class="ttc" id="structb2_mat33_html_a478872c7b6a3bedd13fbedd3ec7a2edb"><div class="ttname"><a href="structb2_mat33.html#a478872c7b6a3bedd13fbedd3ec7a2edb">b2Mat33::Solve33</a></div><div class="ttdeci">b2Vec3 Solve33(const b2Vec3 &amp;b) const </div><div class="ttdef"><b>Definition:</b> b2Math.cpp:25</div></div>
<div class="ttc" id="b2_settings_8h_html"><div class="ttname"><a href="b2_settings_8h.html">b2Settings.h</a></div></div>
<div class="ttc" id="structb2_mat22_html_aaeae95f61cf3171ffb94703980e3594b"><div class="ttname"><a href="structb2_mat22.html#aaeae95f61cf3171ffb94703980e3594b">b2Mat22::SetZero</a></div><div class="ttdeci">void SetZero()</div><div class="ttdoc">Set this matrix to all zeros. </div><div class="ttdef"><b>Definition:</b> b2Math.h:278</div></div>
<div class="ttc" id="structb2_vec2_html"><div class="ttname"><a href="structb2_vec2.html">b2Vec2</a></div><div class="ttdoc">A 2D column vector. </div><div class="ttdef"><b>Definition:</b> b2Math.h:56</div></div>
<div class="ttc" id="structb2_sweep_html_a35eb9b976ca87c9b8d758bec070c6c06"><div class="ttname"><a href="structb2_sweep.html#a35eb9b976ca87c9b8d758bec070c6c06">b2Sweep::Advance</a></div><div class="ttdeci">void Advance(float32 alpha)</div><div class="ttdef"><b>Definition:</b> b2Math.h:782</div></div>
<div class="ttc" id="structb2_vec2_html_af66641b887488490e2168bfafc5a7e36"><div class="ttname"><a href="structb2_vec2.html#af66641b887488490e2168bfafc5a7e36">b2Vec2::LengthSquared</a></div><div class="ttdeci">float32 LengthSquared() const </div><div class="ttdef"><b>Definition:</b> b2Math.h:111</div></div>
<div class="ttc" id="structb2_vec2_html_a7097696dce578322928f4535b34f1c6b"><div class="ttname"><a href="structb2_vec2.html#a7097696dce578322928f4535b34f1c6b">b2Vec2::operator*=</a></div><div class="ttdeci">void operator*=(float32 a)</div><div class="ttdoc">Multiply this vector by a scalar. </div><div class="ttdef"><b>Definition:</b> b2Math.h:98</div></div>
<div class="ttc" id="structb2_rot_html_acde9186de0a4a7397bf8ef714408ad60"><div class="ttname"><a href="structb2_rot.html#acde9186de0a4a7397bf8ef714408ad60">b2Rot::Set</a></div><div class="ttdeci">void Set(float32 angle)</div><div class="ttdoc">Set using an angle in radians. </div><div class="ttdef"><b>Definition:</b> b2Math.h:373</div></div>
<div class="ttc" id="structb2_transform_html_a823e190e4810e35e8100f4414d0bef62"><div class="ttname"><a href="structb2_transform.html#a823e190e4810e35e8100f4414d0bef62">b2Transform::b2Transform</a></div><div class="ttdeci">b2Transform(const b2Vec2 &amp;position, const b2Rot &amp;rotation)</div><div class="ttdoc">Initialize using a position vector and a rotation. </div><div class="ttdef"><b>Definition:</b> b2Math.h:417</div></div>
<div class="ttc" id="structb2_mat33_html_a42fc6953b025e1c8b59717d0ee7accde"><div class="ttname"><a href="structb2_mat33.html#a42fc6953b025e1c8b59717d0ee7accde">b2Mat33::SetZero</a></div><div class="ttdeci">void SetZero()</div><div class="ttdoc">Set this matrix to all zeros. </div><div class="ttdef"><b>Definition:</b> b2Math.h:332</div></div>
<div class="ttc" id="structb2_mat22_html_a41d5d8743bda32cb8c6e212528934810"><div class="ttname"><a href="structb2_mat22.html#a41d5d8743bda32cb8c6e212528934810">b2Mat22::b2Mat22</a></div><div class="ttdeci">b2Mat22(float32 a11, float32 a12, float32 a21, float32 a22)</div><div class="ttdoc">Construct this matrix using scalars. </div><div class="ttdef"><b>Definition:</b> b2Math.h:257</div></div>
<div class="ttc" id="structb2_rot_html"><div class="ttname"><a href="structb2_rot.html">b2Rot</a></div><div class="ttdoc">Rotation. </div><div class="ttdef"><b>Definition:</b> b2Math.h:360</div></div>
<div class="ttc" id="structb2_vec2_html_a9cb67b5f755b82d40673337a3652d81f"><div class="ttname"><a href="structb2_vec2.html#a9cb67b5f755b82d40673337a3652d81f">b2Vec2::operator()</a></div><div class="ttdeci">float32 operator()(int32 i) const </div><div class="ttdoc">Read from and indexed element. </div><div class="ttdef"><b>Definition:</b> b2Math.h:74</div></div>
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